dynamixel_controllers.joint_torque_controller.JointTorqueController Class Reference

Inheritance diagram for dynamixel_controllers.joint_torque_controller.JointTorqueController:

Public Member Functions
def	__init__ (self, dxl_io, controller_namespace, port_namespace)
def	initialize (self)
def	process_command (self, msg)
def	process_motor_states (self, state_list)
def	set_compliance_margin (self, margin)
def	set_compliance_punch (self, punch)
def	set_compliance_slope (self, slope)
def	set_speed (self, speed)
def	set_torque_enable (self, torque_enable)
def	set_torque_limit (self, max_torque)
def	spd_rad_to_raw (self, spd_rad)
Public Member Functions inherited from dynamixel_controllers.joint_controller.JointController
def	__init__ (self, dxl_io, controller_namespace, port_namespace)
def	initialize (self)
def	process_command (self, msg)
def	process_motor_states (self, state_list)
def	process_set_compliance_margin (self, req)
def	process_set_compliance_punch (self, req)
def	process_set_compliance_slope (self, req)
def	process_set_speed (self, req)
def	process_set_torque_limit (self, req)
def	process_torque_enable (self, req)
def	rad_to_raw (self, angle, initial_position_raw, flipped, encoder_ticks_per_radian)
def	raw_to_rad (self, raw, initial_position_raw, flipped, radians_per_encoder_tick)
def	set_compliance_margin (self, margin)
def	set_compliance_punch (self, punch)
def	set_compliance_slope (self, slope)
def	set_speed (self, speed)
def	set_torque_enable (self, torque_enable)
def	set_torque_limit (self, max_torque)
def	start (self)
def	stop (self)

Public Attributes
	ENCODER_RESOLUTION
	ENCODER_TICKS_PER_RADIAN
	flipped
	initial_position_raw
	joint_max_speed
	joint_speed
	joint_state
	last_commanded_torque
	max_angle
	max_angle_raw
	MAX_POSITION
	MAX_VELOCITY
	min_angle
	min_angle_raw
	MIN_VELOCITY
	motor_id
	RADIANS_PER_ENCODER_TICK
	VELOCITY_PER_TICK
Public Attributes inherited from dynamixel_controllers.joint_controller.JointController
	command_sub
	compliance_margin
	compliance_marigin_service
	compliance_punch
	compliance_punch_service
	compliance_slope
	compliance_slope_service
	controller_namespace
	dxl_io
	joint_name
	joint_speed
	joint_state_pub
	motor_states_sub
	port_namespace
	running
	speed_service
	torque_limit
	torque_limit_service
	torque_service

Detailed Description

Definition at line 54 of file joint_torque_controller.py.

Constructor & Destructor Documentation

def dynamixel_controllers.joint_torque_controller.JointTorqueController.__init__	(		self,
			dxl_io,
			controller_namespace,
			port_namespace
	)

Definition at line 55 of file joint_torque_controller.py.

Member Function Documentation

def dynamixel_controllers.joint_torque_controller.JointTorqueController.initialize

(

self

)

Definition at line 68 of file joint_torque_controller.py.

def dynamixel_controllers.joint_torque_controller.JointTorqueController.process_command	(		self,
			msg
	)

Definition at line 168 of file joint_torque_controller.py.

def dynamixel_controllers.joint_torque_controller.JointTorqueController.process_motor_states	(		self,
			state_list
	)

Definition at line 152 of file joint_torque_controller.py.

def dynamixel_controllers.joint_torque_controller.JointTorqueController.set_compliance_margin	(		self,
			margin
	)

Definition at line 131 of file joint_torque_controller.py.

def dynamixel_controllers.joint_torque_controller.JointTorqueController.set_compliance_punch	(		self,
			punch
	)

Definition at line 138 of file joint_torque_controller.py.

def dynamixel_controllers.joint_torque_controller.JointTorqueController.set_compliance_slope	(		self,
			slope
	)

Definition at line 125 of file joint_torque_controller.py.

def dynamixel_controllers.joint_torque_controller.JointTorqueController.set_speed	(		self,
			speed
	)

Definition at line 121 of file joint_torque_controller.py.

def dynamixel_controllers.joint_torque_controller.JointTorqueController.set_torque_enable	(		self,
			torque_enable
	)

Definition at line 117 of file joint_torque_controller.py.

def dynamixel_controllers.joint_torque_controller.JointTorqueController.set_torque_limit	(		self,
			max_torque
	)

Definition at line 145 of file joint_torque_controller.py.

def dynamixel_controllers.joint_torque_controller.JointTorqueController.spd_rad_to_raw	(		self,
			spd_rad
	)

Definition at line 111 of file joint_torque_controller.py.

Member Data Documentation

dynamixel_controllers.joint_torque_controller.JointTorqueController.ENCODER_RESOLUTION

Definition at line 88 of file joint_torque_controller.py.

dynamixel_controllers.joint_torque_controller.JointTorqueController.ENCODER_TICKS_PER_RADIAN

Definition at line 79 of file joint_torque_controller.py.

dynamixel_controllers.joint_torque_controller.JointTorqueController.flipped

Definition at line 63 of file joint_torque_controller.py.

dynamixel_controllers.joint_torque_controller.JointTorqueController.initial_position_raw

Definition at line 59 of file joint_torque_controller.py.

dynamixel_controllers.joint_torque_controller.JointTorqueController.joint_max_speed

Definition at line 99 of file joint_torque_controller.py.

dynamixel_controllers.joint_torque_controller.JointTorqueController.joint_speed

Definition at line 104 of file joint_torque_controller.py.

dynamixel_controllers.joint_torque_controller.JointTorqueController.joint_state

Definition at line 66 of file joint_torque_controller.py.

dynamixel_controllers.joint_torque_controller.JointTorqueController.last_commanded_torque

Definition at line 64 of file joint_torque_controller.py.

dynamixel_controllers.joint_torque_controller.JointTorqueController.max_angle

Definition at line 83 of file joint_torque_controller.py.

dynamixel_controllers.joint_torque_controller.JointTorqueController.max_angle_raw

Definition at line 61 of file joint_torque_controller.py.

dynamixel_controllers.joint_torque_controller.JointTorqueController.MAX_POSITION

Definition at line 89 of file joint_torque_controller.py.

dynamixel_controllers.joint_torque_controller.JointTorqueController.MAX_VELOCITY

Definition at line 91 of file joint_torque_controller.py.

dynamixel_controllers.joint_torque_controller.JointTorqueController.min_angle

Definition at line 82 of file joint_torque_controller.py.

dynamixel_controllers.joint_torque_controller.JointTorqueController.min_angle_raw

Definition at line 60 of file joint_torque_controller.py.

dynamixel_controllers.joint_torque_controller.JointTorqueController.MIN_VELOCITY

Definition at line 92 of file joint_torque_controller.py.

dynamixel_controllers.joint_torque_controller.JointTorqueController.motor_id

Definition at line 58 of file joint_torque_controller.py.

dynamixel_controllers.joint_torque_controller.JointTorqueController.RADIANS_PER_ENCODER_TICK

Definition at line 78 of file joint_torque_controller.py.

dynamixel_controllers.joint_torque_controller.JointTorqueController.VELOCITY_PER_TICK

Definition at line 90 of file joint_torque_controller.py.

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The documentation for this class was generated from the following file:

• joint_torque_controller.py